JP2007236121A5 - - Google Patents

Claims (6)

A cabin on which the operator is boarded ;
A manipulator which is attached to the cabin and can be mounted by exchanging a plurality of types of work tools at the tip thereof via a force sensor;
A control device attached to the cabin and controlling the operation of the manipulator;
In the overhead distribution line working device for giving an operation command to the manipulator by applying a force to the work tool mounted on the manipulator tip by the operator ,
The control device includes an operation command generation unit that generates a position command for operating the manipulator according to an external force detected by the force sensor by impedance control .
The operation command generation unit, from the detected external force by the force sensor, the operator overhead distribution lines for the working devices, characterized in that it has an operation force extractor for extracting only the force applied to the working tool. The operation command generation unit includes a work information storing section for storing information of the plurality of types of work tools, the operating force extraction unit, by weight of the working tool from the output of the force sensor by the information of the working tool 2. The overhead distribution line working apparatus according to claim 1, wherein a force is removed and only the force applied to the work tool by the operator is extracted. The operation command generation unit estimates the output of the operating force extracting unit from the information of the power tool stored in the work information storing section, a valid operation determination unit which compares the actual output of the operating force extractor The working device for overhead distribution lines according to claim 1 or 2, further comprising: The operation enable determination unit, the difference between the actual output of the estimated value and the operating force extracting section presents whether within a predetermined value to the operator, if the difference is greater than the predetermined value, 4. The overhead distribution line working device according to claim 3, wherein the manipulator is stopped. The work information storing section, as information of the working tool, the working tool of the mass and overhead distribution lines for the working devices according to claim 2 or 3, wherein the storing position of the center of gravity. The manipulator is attached so as to be able to move around the cabin along a guide portion provided at an outer edge of the cabin, and the operation command generator is configured to output the manipulator and the manipulator according to an external force detected by the force sensor. 2. The overhead distribution line working device according to claim 1, wherein a position command for operating the guide portion is generated .